Yaskawa MP940 - Manual (Page 449)

11.3 Position Control
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11
11.3.3 Position Control without Using Motion Commands
„ Overview
Position control performs speed acceleration/deceleration according to the related parame-
ters, and positions the axis to the target position of the position reference setting parameter
(OLC012).
„ Details
Use the following procedure to perform position control operations without using motion
commands.
1. Set the motion parameters.
The following three methods can be used to set the setting parameters.
• Using the CP-717 Setting Parameter Screen
• Using a ladder logic program
• Using a motion program
Table 11.15 Examples of Setting Parameters
（ 100％）
0
RUN
PCON
POSCONP
1 Set the motion setting parameters.
2 Set the position control mode (PCON).
3 Set the RUN command (RUN) to ON.
Positioning is started for the axis.
4 Set the position control mode to OFF.
Servo clamp status
: System execution
: User settings
Speed (%)
Steady travel
speed
Position
Linear acceleration time
constant
Linear deceleration time
constant
Time (t)
Positioning completed range
Name Register No.
Setting
Range
Meaning
Setting
Example
Positive Torque Limit
Setting (TLIMP) OWC002 -327.68 to
327.67 0.01 = 0.01%
1 = 1% -100.00
(-100.00%)
Positive Speed Limiter
Setting (NLIMP) OWC004 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Negative Speed Limiter
Setting (NLIMN) OWC005 0.00 to
327.67 0.01 = 0.01%
1 = 1% 130.00
(130.00%)
Machine Coordinate
System Zero Point Offset
(ABSOFF) OLC006
-2
31
to 2
31
-1
1 = 1 reference unit
With pulse: 1 = 1 pulse 100 pulses